Update main.py

main.py

@@ -1,48 +1,55 @@
 import os
 import time
 from spot_controller import SpotController
+import cv2
 
 ROBOT_IP = "10.0.0.3"#os.environ['ROBOT_IP']
 SPOT_USERNAME = "admin"#os.environ['SPOT_USERNAME']
 SPOT_PASSWORD = "2zqa8dgw7lor"#os.environ['SPOT_PASSWORD']
 
 
-def main():
-    #example of using micro and speakers
-    print("Start recording audio")
-    sample_name = "aaaa.wav"
-    cmd = f'arecord -vv --format=cd --device={os.environ["AUDIO_INPUT_DEVICE"]} -r 48000 --duration=10 -c 1 {sample_name}'
-    print(cmd)
-    os.system(cmd)
-    print("Playing sound")
-    os.system(f"ffplay -nodisp -autoexit -loglevel quiet {sample_name}")
-
-    # Capture image
-    import cv2
+def capture_image():
     camera_capture = cv2.VideoCapture(0)
     rv, image = camera_capture.read()
     print(f"Image Dimensions: {image.shape}")
     camera_capture.release()
+    cv2.imwrite(os.path.join('/merklebot/job_data/result.jpg'), img)
+
+
+def main():
+    #example of using micro and speakers
+    # print("Start recording audio")
+    # sample_name = "aaaa.wav"
+    # cmd = f'arecord -vv --format=cd --device={os.environ["AUDIO_INPUT_DEVICE"]} -r 48000 --duration=10 -c 1 {sample_name}'
+    # print(cmd)
+    # os.system(cmd)
+    # print("Playing sound")
+    # os.system(f"ffplay -nodisp -autoexit -loglevel quiet {sample_name}")
+
+    # # Capture image
 
     # Use wrapper in context manager to lease control, turn on E-Stop, power on the robot and stand up at start
     # and to return lease + sit down at the end
     with SpotController(username=SPOT_USERNAME, password=SPOT_PASSWORD, robot_ip=ROBOT_IP) as spot:
 
         time.sleep(2)
-
+        capture_image()
         # Move head to specified positions with intermediate time.sleep
         spot.move_head_in_points(yaws=[0.2, 0],
                                  pitches=[0.3, 0],
                                  rolls=[0.4, 0],
                                  sleep_after_point_reached=1)
+        capture_image()
         time.sleep(3)
 
         # Make Spot to move by goal_x meters forward and goal_y meters left
         spot.move_to_goal(goal_x=0.5, goal_y=0)
         time.sleep(3)
+        capture_image()
 
         # Control Spot by velocity in m/s (or in rad/s for rotation)
         spot.move_by_velocity_control(v_x=-0.3, v_y=0, v_rot=0, cmd_duration=2)
+        capture_image()
         time.sleep(3)